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<div class="title">test_ImuSimulator.cpp</div>  </div>
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<a href="../../d9/d1d/test___imu_simulator_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d2/da4/_imu_simulator_8h.html">SimUtilities/ImuSimulator.h</a>&quot;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d9/d8e/cpp_types_8h.html">cppTypes.h</a>&quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;gmock/gmock.h&quot;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;gtest/gtest.h&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">// check the imu data when stationary and at the origin</span></div><div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="../../d9/d1d/test___imu_simulator_8cpp.html#a5a1f41c60827f205482999bbb3f31a53">   14</a></span>&#160;<a class="code" href="../../d9/d1d/test___imu_simulator_8cpp.html#a5a1f41c60827f205482999bbb3f31a53">TEST</a>(<a class="code" href="../../d8/da4/class_imu_simulator.html">ImuSimulator</a>, passThrough) {</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <span class="comment">// no noise</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <a class="code" href="../../da/dcf/class_simulator_control_parameters.html">SimulatorControlParameters</a> simParams;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  simParams.vectornav_imu_quat_noise = 0.f;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  simParams.vectornav_imu_accelerometer_noise = 0.f;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  simParams.vectornav_imu_gyro_noise = 0.f;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <a class="code" href="../../d8/da4/class_imu_simulator.html">ImuSimulator&lt;double&gt;</a> imuSim(simParams, 0);</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <a class="code" href="../../de/d75/struct_f_b_model_state.html">FBModelState&lt;double&gt;</a> xfb;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative&lt;double&gt;</a> xfbd;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> eye;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  eye &lt;&lt; 1, 0, 0, 0;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;double&gt;</a> v0;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  v0 &lt;&lt; 0, 0, 0, 0, 0, 0;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="comment">// stationary, upright</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  xfb.<a class="code" href="../../de/d75/struct_f_b_model_state.html#ae42e1f0d68b89af761bcaf273b97bca7">bodyOrientation</a> = eye;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  xfb.<a class="code" href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">bodyVelocity</a> = v0;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  xfbd.<a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html#a8b7b6d70f1b1268f02e1b291dad26c5d">dBodyVelocity</a> = v0;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <a class="code" href="../../df/d06/struct_vector_nav_data.html">VectorNavData</a> <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a2298a53684bd01e06a674e0b449e81f3">vn</a>;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="comment">// update data</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  imuSim.<a class="code" href="../../d8/da4/class_imu_simulator.html#a1c6eaa5dfe26a97bdfeec6b58cad0ad4">updateVectornav</a>(xfb, xfbd, &amp;vn);</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a> imuZero(0, 0, 0);</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a> imuGravity(0, 0, 9.81);</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;float&gt;</a> imuLevel;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="comment">// imuLevel &lt;&lt; 1,0,0,0;</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  imuLevel &lt;&lt; 0, 0, 0,</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;      1;  <span class="comment">// vectornave quaternion description sequence is (x, y, z, w)</span></div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(imuZero, vn.<a class="code" href="../../df/d06/struct_vector_nav_data.html#a885e0daffb04f4fd914bc48741b8639d">gyro</a>, .00001f));</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(imuLevel, vn.<a class="code" href="../../df/d06/struct_vector_nav_data.html#a373f86342f6a3c2b2b2ca995eb67ff58">quat</a>, .00001f));</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(imuGravity, vn.<a class="code" href="../../df/d06/struct_vector_nav_data.html#a2b54c7ce2b17cd19834988156da06f21">accelerometer</a>, .00001f));</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;}</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="comment">// test with</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="comment">// no omega or body acceleration, but linear, velocity, orientation, and</span></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="comment">// position</span></div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="../../d9/d1d/test___imu_simulator_8cpp.html#a03909a621e0f00ea87f07f53032ee2f4">   58</a></span>&#160;<a class="code" href="../../d9/d1d/test___imu_simulator_8cpp.html#a5a1f41c60827f205482999bbb3f31a53">TEST</a>(<a class="code" href="../../d8/da4/class_imu_simulator.html">ImuSimulator</a>, orientation) {</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="comment">// no noise</span></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <a class="code" href="../../da/dcf/class_simulator_control_parameters.html">SimulatorControlParameters</a> simParams;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  simParams.vectornav_imu_quat_noise = 0.f;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  simParams.vectornav_imu_accelerometer_noise = 0.f;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  simParams.vectornav_imu_gyro_noise = 0.f;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <a class="code" href="../../d8/da4/class_imu_simulator.html">ImuSimulator&lt;double&gt;</a> imuSim(simParams, 0);</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <a class="code" href="../../de/d75/struct_f_b_model_state.html">FBModelState&lt;double&gt;</a> xfb;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative&lt;double&gt;</a> xfbd;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="comment">// pitch the robot down:</span></div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> quat =</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <a class="code" href="../../da/d9b/namespaceori.html#a73c3872af6870d856cedd662856fcaea">rotationMatrixToQuaternion</a>(<a class="code" href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">coordinateRotation</a>(CoordinateAxis::Y, .2));</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> position(2, 4, 3);</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;double&gt;</a> velocity;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  velocity &lt;&lt; 0, 0, 0, 2, 3, 6;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;double&gt;</a> acceleration = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;double&gt;::Zero</a>();</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  xfb.<a class="code" href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">bodyVelocity</a> = velocity;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  xfb.<a class="code" href="../../de/d75/struct_f_b_model_state.html#abbf400085816b6baa4e4a0597ac5b118">bodyPosition</a> = position;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  xfb.<a class="code" href="../../de/d75/struct_f_b_model_state.html#ae42e1f0d68b89af761bcaf273b97bca7">bodyOrientation</a> = quat;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  xfbd.<a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html#a825cfc02adde2c48b0d508a3bf77e896">dBodyPosition</a> = velocity.tail&lt;3&gt;();</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  xfbd.<a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html#a8b7b6d70f1b1268f02e1b291dad26c5d">dBodyVelocity</a> = acceleration;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <a class="code" href="../../df/d06/struct_vector_nav_data.html">VectorNavData</a> <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a2298a53684bd01e06a674e0b449e81f3">vn</a>;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="comment">// update data</span></div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  imuSim.<a class="code" href="../../d8/da4/class_imu_simulator.html#a1c6eaa5dfe26a97bdfeec6b58cad0ad4">updateVectornav</a>(xfb, xfbd, &amp;vn);</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a> imuZero(0, 0, 0);</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a> imuGravity(0, 0, 9.81);</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="comment">// Quat&lt;float&gt; imuLevel = quat.cast&lt;float&gt;();</span></div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;float&gt;</a> imuLevel;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;float&gt;</a> sim_quat = quat.cast&lt;<span class="keywordtype">float</span>&gt;();</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="comment">// vectornave quaternion description sequence is (x, y, z, w)</span></div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  imuLevel &lt;&lt; sim_quat[1], sim_quat[2], sim_quat[3], sim_quat[0];</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(imuZero, vn.<a class="code" href="../../df/d06/struct_vector_nav_data.html#a885e0daffb04f4fd914bc48741b8639d">gyro</a>, .00001f));</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(imuLevel, vn.<a class="code" href="../../df/d06/struct_vector_nav_data.html#a373f86342f6a3c2b2b2ca995eb67ff58">quat</a>, .00001f));</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  EXPECT_TRUE(vn.<a class="code" href="../../df/d06/struct_vector_nav_data.html#a2b54c7ce2b17cd19834988156da06f21">accelerometer</a>[0] &lt; .0001f);</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;}</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="comment">// test with omega</span></div><div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="../../d9/d1d/test___imu_simulator_8cpp.html#a7d3bd1e85e3c165efd3485ef592ede81">  103</a></span>&#160;<a class="code" href="../../d9/d1d/test___imu_simulator_8cpp.html#a5a1f41c60827f205482999bbb3f31a53">TEST</a>(<a class="code" href="../../d8/da4/class_imu_simulator.html">ImuSimulator</a>, omega) {</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="comment">// no noise</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <a class="code" href="../../da/dcf/class_simulator_control_parameters.html">SimulatorControlParameters</a> simParams;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  simParams.vectornav_imu_quat_noise = 0.f;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  simParams.vectornav_imu_accelerometer_noise = 0.f;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  simParams.vectornav_imu_gyro_noise = 0.f;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <a class="code" href="../../d8/da4/class_imu_simulator.html">ImuSimulator&lt;double&gt;</a> imuSim(simParams, 0);</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <a class="code" href="../../de/d75/struct_f_b_model_state.html">FBModelState&lt;double&gt;</a> xfb;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative&lt;double&gt;</a> xfbd;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="comment">// pitch the robot down:</span></div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> quat =</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <a class="code" href="../../da/d9b/namespaceori.html#a73c3872af6870d856cedd662856fcaea">rotationMatrixToQuaternion</a>(<a class="code" href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">coordinateRotation</a>(CoordinateAxis::Y, .2));</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> position(2, 4, 3);</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;double&gt;</a> velocity;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  velocity &lt;&lt; 1, 2, 3, 0, 0, 0;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;double&gt;</a> acceleration = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;double&gt;::Zero</a>();</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  xfb.<a class="code" href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">bodyVelocity</a> = velocity;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  xfb.<a class="code" href="../../de/d75/struct_f_b_model_state.html#abbf400085816b6baa4e4a0597ac5b118">bodyPosition</a> = position;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  xfb.<a class="code" href="../../de/d75/struct_f_b_model_state.html#ae42e1f0d68b89af761bcaf273b97bca7">bodyOrientation</a> = quat;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  xfbd.<a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html#a825cfc02adde2c48b0d508a3bf77e896">dBodyPosition</a> = velocity.tail&lt;3&gt;();</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  xfbd.<a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html#a8b7b6d70f1b1268f02e1b291dad26c5d">dBodyVelocity</a> = acceleration;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <a class="code" href="../../df/d06/struct_vector_nav_data.html">VectorNavData</a> <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a2298a53684bd01e06a674e0b449e81f3">vn</a>;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="comment">// update data</span></div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  imuSim.<a class="code" href="../../d8/da4/class_imu_simulator.html#a1c6eaa5dfe26a97bdfeec6b58cad0ad4">updateVectornav</a>(xfb, xfbd, &amp;vn);</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a> imuZero(0, 0, 0);</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a> imuGravity(0, 0, 9.81);</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;float&gt;</a> imuLevel;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;float&gt;</a> sim_quat = quat.cast&lt;<span class="keywordtype">float</span>&gt;();</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  imuLevel &lt;&lt; sim_quat[1], sim_quat[2], sim_quat[3], sim_quat[0];</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a> omegaB = xfb.<a class="code" href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">bodyVelocity</a>.head&lt;3&gt;().cast&lt;float&gt;();</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(omegaB, vn.<a class="code" href="../../df/d06/struct_vector_nav_data.html#a885e0daffb04f4fd914bc48741b8639d">gyro</a>, .00001f));</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(imuLevel, vn.<a class="code" href="../../df/d06/struct_vector_nav_data.html#a373f86342f6a3c2b2b2ca995eb67ff58">quat</a>, .00001f));</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;}</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="comment">// test running in a circle omega cross v terms</span></div><div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="../../d9/d1d/test___imu_simulator_8cpp.html#ad5ed3c0dade5f8908278a3eeec43378a">  146</a></span>&#160;<a class="code" href="../../d9/d1d/test___imu_simulator_8cpp.html#a5a1f41c60827f205482999bbb3f31a53">TEST</a>(<a class="code" href="../../d8/da4/class_imu_simulator.html">ImuSimulator</a>, omegaCrossV) {</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  <span class="comment">// no noise</span></div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <a class="code" href="../../da/dcf/class_simulator_control_parameters.html">SimulatorControlParameters</a> simParams;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  simParams.vectornav_imu_quat_noise = 0.f;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  simParams.vectornav_imu_accelerometer_noise = 0.f;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  simParams.vectornav_imu_gyro_noise = 0.f;</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <a class="code" href="../../d8/da4/class_imu_simulator.html">ImuSimulator&lt;double&gt;</a> imuSim(simParams, 0);</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  <a class="code" href="../../de/d75/struct_f_b_model_state.html">FBModelState&lt;double&gt;</a> xfb;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  <a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative&lt;double&gt;</a> xfbd;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <span class="comment">// robot is upright, running in clockwise circle when viewed from above, at 12</span></div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  <span class="comment">// o&#39;clock:</span></div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> quat = <a class="code" href="../../da/d9b/namespaceori.html#a73c3872af6870d856cedd662856fcaea">rotationMatrixToQuaternion</a>(<a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;double&gt;::Identity</a>());</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> position(2, 4, 3);</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;double&gt;</a> velocity;</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  velocity &lt;&lt; 0, 0, -2, 3, 0, 0;  <span class="comment">// clockwise</span></div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;double&gt;</a> acceleration =</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;double&gt;::Zero</a>();  <span class="comment">// zero spatial acceleration</span></div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; 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 <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a> imuGravity(0, 0, 9.81);</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;float&gt;</a> imuLevel;</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;float&gt;</a> sim_quat = quat.cast&lt;<span class="keywordtype">float</span>&gt;();</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  imuLevel &lt;&lt; sim_quat[1], sim_quat[2], sim_quat[3], sim_quat[0];</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a> omegaB = xfb.<a class="code" href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">bodyVelocity</a>.head&lt;3&gt;().cast&lt;float&gt;();</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; 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 EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(vn.<a class="code" href="../../df/d06/struct_vector_nav_data.html#a2b54c7ce2b17cd19834988156da06f21">accelerometer</a>, acc_ref, .0001f));</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;}</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;<span class="comment">// test noise:</span></div><div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="../../d9/d1d/test___imu_simulator_8cpp.html#a504c5fa4ee751ced8f6662ca0f4f3fd3">  195</a></span>&#160;<a class="code" href="../../d9/d1d/test___imu_simulator_8cpp.html#a5a1f41c60827f205482999bbb3f31a53">TEST</a>(<a class="code" href="../../d8/da4/class_imu_simulator.html">ImuSimulator</a>, noise) {</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <a class="code" href="../../da/dcf/class_simulator_control_parameters.html">SimulatorControlParameters</a> simParamsNoise;</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  simParamsNoise.vectornav_imu_quat_noise = 0.005f;</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  simParamsNoise.vectornav_imu_accelerometer_noise = 0.002f;</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  simParamsNoise.vectornav_imu_gyro_noise = 0.005f;</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  <a class="code" href="../../da/dcf/class_simulator_control_parameters.html">SimulatorControlParameters</a> simParams;</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  simParams.vectornav_imu_quat_noise = 0.f;</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  simParams.vectornav_imu_accelerometer_noise = 0.f;</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  simParams.vectornav_imu_gyro_noise = 0.f;</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  <a class="code" href="../../d8/da4/class_imu_simulator.html">ImuSimulator&lt;double&gt;</a> imuSimNoise(simParamsNoise, 0);</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  <a class="code" href="../../de/d75/struct_f_b_model_state.html">FBModelState&lt;double&gt;</a> xfb;</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  <a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative&lt;double&gt;</a> xfbd;</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;double&gt;</a> quat = <a class="code" href="../../da/d9b/namespaceori.html#a73c3872af6870d856cedd662856fcaea">rotationMatrixToQuaternion</a>(</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      <a class="code" href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">ori::coordinateRotation</a>(CoordinateAxis::X, 2.34) *</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      <a class="code" href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">ori::coordinateRotation</a>(CoordinateAxis::Y, -5.3) *</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      <a class="code" href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">ori::coordinateRotation</a>(CoordinateAxis::Z, -.3));</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> position(2, 4, 3);</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;double&gt;</a> velocity;</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  velocity &lt;&lt; 2, 1, -2, 3, 3, 2;  <span class="comment">// clockwise</span></div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;double&gt;</a> acceleration =</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;double&gt;::Zero</a>();  <span class="comment">// zero spatial acceleration</span></div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  xfb.<a class="code" href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">bodyVelocity</a> = velocity;</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  xfb.<a class="code" href="../../de/d75/struct_f_b_model_state.html#abbf400085816b6baa4e4a0597ac5b118">bodyPosition</a> = position;</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  xfb.<a class="code" href="../../de/d75/struct_f_b_model_state.html#ae42e1f0d68b89af761bcaf273b97bca7">bodyOrientation</a> = quat;</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  xfbd.<a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html#a825cfc02adde2c48b0d508a3bf77e896">dBodyPosition</a> = velocity.tail&lt;3&gt;();</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  xfbd.<a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html#a8b7b6d70f1b1268f02e1b291dad26c5d">dBodyVelocity</a> = acceleration;</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  <a class="code" href="../../df/d06/struct_vector_nav_data.html">VectorNavData</a> <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a2298a53684bd01e06a674e0b449e81f3">vn</a>;</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a> rpy_ref = <a class="code" href="../../da/d9b/namespaceori.html#add76bed815809cbebd38a8596b0f6224">ori::quatToRPY</a>(quat.cast&lt;<span class="keywordtype">float</span>&gt;());</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a> rpy_avg(0, 0, 0);</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  constexpr <span class="keywordtype">size_t</span> nIterations = 1000;</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; nIterations; i++) {</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    imuSimNoise.<a class="code" href="../../d8/da4/class_imu_simulator.html#a1c6eaa5dfe26a97bdfeec6b58cad0ad4">updateVectornav</a>(xfb, xfbd, &amp;vn);</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;float&gt;</a> sim_quat;</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    sim_quat &lt;&lt; vn.<a class="code" href="../../df/d06/struct_vector_nav_data.html#a373f86342f6a3c2b2b2ca995eb67ff58">quat</a>[3], vn.<a class="code" href="../../df/d06/struct_vector_nav_data.html#a373f86342f6a3c2b2b2ca995eb67ff58">quat</a>[0], vn.<a class="code" href="../../df/d06/struct_vector_nav_data.html#a373f86342f6a3c2b2b2ca995eb67ff58">quat</a>[1], vn.<a class="code" href="../../df/d06/struct_vector_nav_data.html#a373f86342f6a3c2b2b2ca995eb67ff58">quat</a>[2];</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a> rpy = <a class="code" href="../../da/d9b/namespaceori.html#add76bed815809cbebd38a8596b0f6224">ori::quatToRPY</a>(sim_quat);</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    rpy_avg += rpy / float(nIterations);</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  }</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(rpy_avg, rpy_ref, .01));</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;}</div><div class="ttc" id="struct_f_b_model_state_html_abbf400085816b6baa4e4a0597ac5b118"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html#abbf400085816b6baa4e4a0597ac5b118">FBModelState::bodyPosition</a></div><div class="ttdeci">Vec3&lt; T &gt; bodyPosition</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00041">FloatingBaseModel.h:41</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html_abf1fc0221d6b92d103193524a2046ffc"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">FBModelState::bodyVelocity</a></div><div class="ttdeci">SVec&lt; T &gt; bodyVelocity</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00042">FloatingBaseModel.h:42</a></div></div>
<div class="ttc" id="namespaceori_html_a537b8d0769c03e4cd8ef2b9a9dc8a760"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a537b8d0769c03e4cd8ef2b9a9dc8a760">ori::coordinateRotation</a></div><div class="ttdeci">Mat3&lt; T &gt; coordinateRotation(CoordinateAxis axis, T theta)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00060">orientation_tools.h:60</a></div></div>
<div class="ttc" id="_imu_simulator_8h_html"><div class="ttname"><a href="../../d2/da4/_imu_simulator_8h.html">ImuSimulator.h</a></div><div class="ttdoc">Simulated IMU. </div></div>
<div class="ttc" id="test___imu_simulator_8cpp_html_a5a1f41c60827f205482999bbb3f31a53"><div class="ttname"><a href="../../d9/d1d/test___imu_simulator_8cpp.html#a5a1f41c60827f205482999bbb3f31a53">TEST</a></div><div class="ttdeci">TEST(ImuSimulator, passThrough)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d1d/test___imu_simulator_8cpp_source.html#l00014">test_ImuSimulator.cpp:14</a></div></div>
<div class="ttc" id="struct_f_b_model_state_derivative_html_a825cfc02adde2c48b0d508a3bf77e896"><div class="ttname"><a href="../../de/dce/struct_f_b_model_state_derivative.html#a825cfc02adde2c48b0d508a3bf77e896">FBModelStateDerivative::dBodyPosition</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW Vec3&lt; T &gt; dBodyPosition</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00059">FloatingBaseModel.h:59</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a8686862774f7c3186c7920447f4de282"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Quat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00058">cppTypes.h:58</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="cpp_types_8h_html"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html">cppTypes.h</a></div></div>
<div class="ttc" id="struct_f_b_model_state_derivative_html_a8b7b6d70f1b1268f02e1b291dad26c5d"><div class="ttname"><a href="../../de/dce/struct_f_b_model_state_derivative.html#a8b7b6d70f1b1268f02e1b291dad26c5d">FBModelStateDerivative::dBodyVelocity</a></div><div class="ttdeci">SVec&lt; T &gt; dBodyVelocity</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00060">FloatingBaseModel.h:60</a></div></div>
<div class="ttc" id="struct_vector_nav_data_html"><div class="ttname"><a href="../../df/d06/struct_vector_nav_data.html">VectorNavData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/df2/_i_m_u_types_8h_source.html#l00013">IMUTypes.h:13</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a3d70f8eb9cf1855ca989f887a5543acc"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 1 &gt; SVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00062">cppTypes.h:62</a></div></div>
<div class="ttc" id="struct_vector_nav_data_html_a2b54c7ce2b17cd19834988156da06f21"><div class="ttname"><a href="../../df/d06/struct_vector_nav_data.html#a2b54c7ce2b17cd19834988156da06f21">VectorNavData::accelerometer</a></div><div class="ttdeci">Vec3&lt; float &gt; accelerometer</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/df2/_i_m_u_types_8h_source.html#l00014">IMUTypes.h:14</a></div></div>
<div class="ttc" id="rt__vectornav_8cpp_html_a2298a53684bd01e06a674e0b449e81f3"><div class="ttname"><a href="../../db/d9f/rt__vectornav_8cpp.html#a2298a53684bd01e06a674e0b449e81f3">vn</a></div><div class="ttdeci">vn_sensor vn</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d9f/rt__vectornav_8cpp_source.html#l00026">rt_vectornav.cpp:26</a></div></div>
<div class="ttc" id="class_imu_simulator_html_a1c6eaa5dfe26a97bdfeec6b58cad0ad4"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html#a1c6eaa5dfe26a97bdfeec6b58cad0ad4">ImuSimulator::updateVectornav</a></div><div class="ttdeci">void updateVectornav(const FBModelState&lt; T &gt; &amp;robotState, const FBModelStateDerivative&lt; T &gt; &amp;robotStateD, VectorNavData *data)</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d6a/_imu_simulator_8cpp_source.html#l00028">ImuSimulator.cpp:28</a></div></div>
<div class="ttc" id="namespaceori_html_add76bed815809cbebd38a8596b0f6224"><div class="ttname"><a href="../../da/d9b/namespaceori.html#add76bed815809cbebd38a8596b0f6224">ori::quatToRPY</a></div><div class="ttdeci">Vec3&lt; typename T::Scalar &gt; quatToRPY(const Eigen::MatrixBase&lt; T &gt; &amp;q)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00185">orientation_tools.h:185</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html">FBModelState&lt; double &gt;</a></div></div>
<div class="ttc" id="namespaceori_html_a73c3872af6870d856cedd662856fcaea"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a73c3872af6870d856cedd662856fcaea">ori::rotationMatrixToQuaternion</a></div><div class="ttdeci">Quat&lt; typename T::Scalar &gt; rotationMatrixToQuaternion(const Eigen::MatrixBase&lt; T &gt; &amp;r1)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00119">orientation_tools.h:119</a></div></div>
<div class="ttc" id="_math_utilities_8h_html_aa06ec79f1e3170ea41b58ffbf35b9fb6"><div class="ttname"><a href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a></div><div class="ttdeci">bool almostEqual(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T &gt; &amp;b, T2 tol)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/dda/_math_utilities_8h_source.html#l00023">MathUtilities.h:23</a></div></div>
<div class="ttc" id="struct_f_b_model_state_derivative_html"><div class="ttname"><a href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative&lt; double &gt;</a></div></div>
<div class="ttc" id="class_simulator_control_parameters_html"><div class="ttname"><a href="../../da/dcf/class_simulator_control_parameters.html">SimulatorControlParameters</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d2/dc1/_simulator_parameters_8h_source.html#l00018">SimulatorParameters.h:18</a></div></div>
<div class="ttc" id="struct_vector_nav_data_html_a373f86342f6a3c2b2b2ca995eb67ff58"><div class="ttname"><a href="../../df/d06/struct_vector_nav_data.html#a373f86342f6a3c2b2b2ca995eb67ff58">VectorNavData::quat</a></div><div class="ttdeci">Quat&lt; float &gt; quat</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/df2/_i_m_u_types_8h_source.html#l00016">IMUTypes.h:16</a></div></div>
<div class="ttc" id="struct_vector_nav_data_html_a885e0daffb04f4fd914bc48741b8639d"><div class="ttname"><a href="../../df/d06/struct_vector_nav_data.html#a885e0daffb04f4fd914bc48741b8639d">VectorNavData::gyro</a></div><div class="ttdeci">Vec3&lt; float &gt; gyro</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/df2/_i_m_u_types_8h_source.html#l00015">IMUTypes.h:15</a></div></div>
<div class="ttc" id="class_imu_simulator_html"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html">ImuSimulator</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d2/da4/_imu_simulator_8h_source.html#l00016">ImuSimulator.h:16</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html_ae42e1f0d68b89af761bcaf273b97bca7"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html#ae42e1f0d68b89af761bcaf273b97bca7">FBModelState::bodyOrientation</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW Quat&lt; T &gt; bodyOrientation</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00040">FloatingBaseModel.h:40</a></div></div>
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